Dynamics forces modelling and simulation for 3-RUU parallel main hand

In the master-slave robot control process, accuracy for force feedback as an important index of the haptic master hands is usually a force model of the main hand to be determined. As the main Acupressure model is usually based on their sense of static model, so the accuracy is relatively low in the process of movement. To further enhance the precision of force feedback, according to the general equation of multi-body dynamics and Lagrange equations, obtained the inverse dynamics model of 3-RUU parallel main hand, thereby establishing a dynamic forces model based on master manipulator dynamics. Through application of Adams to compare the dynamic simulation results with the driving torque of the dynamic forces model, and thus demonstrated the dynamic forces model of the main hand is right; Further, compare the simulation results of the dynamic forces model with the static simulation torque, we can get the curve about percentage error between the force model of main hand and the dynamic forces model, and demonstrated the dynamic forces model has a higher precision in force feedback.